Study on a trochoid robot based on the method of track interpolation 基于轨迹插补算法的切割机器人的研究
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The main contents in the paper are as follows : ( 1 ) the operational principle of the hydraulic automatic tilting gates with connecting lever and rolling wheel were analyzed . using block diagram , the author elaborated on the running course and steady factors of the tilting gate . then the instantaneous running center in the running course of the tilting gate was brought forward , and the trochoid of the center was described 本文研究的主要内容如下： ( 1 )分析阐述了水力自动翻板闸门的工作原理和运转机理，结合框图详细分析说明了翻板闸门的运转过程及其稳定条件，给出了闸门在运行过程中的瞬心轨迹线，分析研究了闸门运动过程中的基本平衡方程。
